icetek-pid.h

2812例程以及 控制直流无刷电机程序

typedef struct {  _iq  Ref;   			// Input: Reference input 
				  _iq  Fdb;   			// Input: Feedback input 
				  _iq  Err0;			// Variable: Error
				  _iq  Err1;			// Variable: Error
				  _iq  Err2;			// Variable: Error
				  _iq  Kp;				// Parameter: Proportional gain(A)
				  _iq  Ki;			    // Parameter: Integral gain(B)
				  _iq  Kd; 		        // Parameter: Derivative gain(C)
				  _iq  Up;				// Variable: Proportional output 
				  _iq  Ui;				// Variable: Integral output 
				  _iq  Ud;				// Variable: Derivative output 	
				  _iq  OutPreSat; 		// Variable: Pre-saturated output
				  _iq  OutMax;		    // Parameter: Maximum output 
				  _iq  OutMin;	    	// Parameter: Minimum output
				  _iq  Out;   			// Output: PID output 
		 	 	  void  (*calc)();	  	// Pointer to calculation function
				 } ICETEK_PIDA;	            

typedef ICETEK_PIDA *ICETEK_PIDA_handle;
/*-----------------------------------------------------------------------------
Default initalizer for the PIDREG3 object.
-----------------------------------------------------------------------------*/                     
#define ICETEK_PIDA_DEFAULTS { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _IQ(0.9), 0, 0, \
              			  		(void (*)(Uint32))ICETEK_PIDA_calc }

/*------------------------------------------------------------------------------
Prototypes for the functions in PIDREG3.C
------------------------------------------------------------------------------*/
void ICETEK_PIDA_calc(ICETEK_PIDA_handle);